///////////////////////////////////////////////////////////////////////////////
// Copyright (C) 2013, PAL Robotics S.L.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//   * Redistributions of source code must retain the above copyright notice,
//     this list of conditions and the following disclaimer.
//   * Redistributions in binary form must reproduce the above copyright
//     notice, this list of conditions and the following disclaimer in the
//     documentation and/or other materials provided with the distribution.
//   * Neither the name of PAL Robotics S.L. nor the names of its
//     contributors may be used to endorse or promote products derived from
//     this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// POSSIBILITY OF SUCH DAMAGE.
//////////////////////////////////////////////////////////////////////////////

/// \author Daniel Pinyol

#ifndef TRANSMISSIONS_LOADER_UTILS_H
#define TRANSMISSIONS_LOADER_UTILS_H

#include <boost/scoped_ptr.hpp>
#include <pluginlib/class_loader.h>
#include <transmission_interface/simple_transmission.h>
#include <transmission_interface/transmission_loader.h>
#include "read_file.h"

using namespace transmission_interface;
typedef TransmissionLoader::TransmissionPtr TransmissionPtr;


struct TransmissionPluginLoader
{
  TransmissionPluginLoader()
    :class_loader_("transmission_interface", "transmission_interface::TransmissionLoader")
  {
  }

  boost::shared_ptr<TransmissionLoader> create(const std::string& type)
  {

    try
    {
      return class_loader_.createInstance(type);
    }
    catch(...) {return boost::shared_ptr<TransmissionLoader>();}
  }

private:
  //must keep it alive because instance destroyers need it
  pluginlib::ClassLoader<TransmissionLoader>  class_loader_;
};

#endif // header guard